局所フィードバックを用いたマニピュレータ制御系の設計 : 多変数ピボットの指定および近似固有値指定

抄録

Current robot manipulators are controlled by decentralized or independent joint controllers. That is, each joint is locally controlled using only local information. The high-gain feedback is adopted in the control of industrial robot manipulators because of its robustness to parameter variations and disturbances. We discuss the asymptotic behavior of the closed-loop eigenvalues of such systems. In this paper, we propose a method for assigning the multivariable pivots of the multivariable root-loci. We also propose a method for approximate assignment of closed-loop eigenvalues of manipulator systems, which are controlled by independent joint controllers, with high feedback gain.